Method, device, equipment and storage medium for controlling opening and closing device of intelligent device

Abstract

The application provides a method, device, equipment and storage medium for controlling an opening and closing device of a smart device. The current angle value, current posture information and expected angle value of the opening and closing device of the smart device are obtained. Based on the current posture information and the current angle value, a first driving parameter corresponding to a driving device is determined. The driving device is used for outputting a first target torque to the opening and closing device under the action of the first driving parameter. The first target torque is used for offsetting the gravity component force of the opening and closing device under the current posture. The second driving parameter corresponding to the opening and closing device is determined based on the current angle value and the expected angle value. The driving device is controlled based on the first driving parameter and the second driving parameter to control the opening and closing device. The driving parameter affected by the gravity, the driving parameter affected by the motion resistance and the anti-pinch force can be determined separately. Since the motion resistance is generally fixed, the anti-pinch force can be accurately determined in the control.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of control, and particularly relates to a method and device for controlling an opening and closing device of an intelligent device, a device, and a storage medium. BACKGROUND

[0002] With the wide application of electric doors in vehicles, buildings and other fields, the safety and intelligence requirements thereof are increasingly improved. The anti-pinch function, as an important safety feature of an electric side opening door, aims to avoid pinching or damaging objects during the closing process. In the related art, the anti-pinch function uses a speed change rate for judgment. However, since the electric door is closed-loop controlled, if the pinched object is soft, the speed will be quickly corrected to the target value by the closed-loop control. At this time, the speed change rate cannot reflect the true pinch force, and even if the pinch force is very large, the anti-pinch function cannot be triggered from the speed change rate, that is, the determined anti-pinch force is inaccurate. In the closed-loop control based on the absolute value of the current, since the electric door is greatly affected by gravity at different slopes and roll angles, the determined anti-pinch force is still inaccurate. SUMMARY

[0003] To solve the above problems, the embodiments of the present application provide a method and device for controlling an opening and closing device of an intelligent device, a device, and a storage medium, which can separately determine the driving parameters affected by gravity and the driving parameters affected by the motion resistance and the anti-pinch force. Since the motion resistance is generally fixed, the anti-pinch force can be accurately determined in the control.

[0004] In a first aspect, the embodiments of the present application provide a method for controlling an opening and closing device of an intelligent device, comprising:

[0005] obtaining a current angle value of the opening and closing device of the intelligent device in an open state, current attitude information, and a desired angle value of the opening and closing device;

[0006] determining a first driving parameter corresponding to a driving device based on the current attitude information and the current angle value, the driving device being used to output a first target torque to the opening and closing device under the action of the first driving parameter, the first target torque being used to offset the gravity component of the opening and closing device in the current attitude;

[0007] determining a second driving parameter corresponding to the opening and closing device based on the current angle value and the desired angle value, wherein the driving device is used to output a second target torque to the opening and closing device under the action of the second driving parameter, and a difference between a force corresponding to the second target torque and a sum of the motion resistance and the anti-pinch force of the opening and closing device in the opening and closing process is less than an error threshold;

[0008] controlling the driving device to control the opening and closing device based on the first driving parameter and the second driving parameter.

[0009] In some embodiments, the opening and closing device is connected to the body of the intelligent device through a hinge, and the driving device comprises an electric limit stopper arranged on the opening and closing device, the electric limit stopper comprising a slide block arranged inside the electric limit stopper and an extension rod, one end of the extension rod being fixed on the slide block and the other end of the extension rod being connected to an actuator hinge on the intelligent device, the distance between the electric limit stopper and the actuator hinge being a first distance and the distance between the actuator hinge and the hinge being a second distance when the opening and closing device is at the current angle value, the method comprising:

[0010] acquiring the first distance between the electric limit stopper and the actuator hinge and the second distance between the actuator hinge and the hinge when the opening and closing device is at the current angle value;

[0011] determining a third distance between the slide block and the hinge based on the position information of the slide block;

[0012] determining the angle value at which the opening and closing device is opened relative to the intelligent device based on the first distance, the second distance and the third distance.

[0013] In some embodiments, the determination of the third distance between the slide block and the hinge based on the position information of the slide block comprises:

[0014] acquiring a Hall parameter of a Hall sensor, the Hall sensor being configured to detect magnetic field information of an environment in which the slide block is located and generate the Hall parameter based on the magnetic field information;

[0015] determining the position information of the slide block based on the Hall parameter;

[0016] determining the third distance between the slide block and the hinge based on the position information.

[0017] In some embodiments, the current posture information comprises a pitch angle and a roll angle.

[0018] In some embodiments, the determination of the second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value comprises:

[0019] adopting a feedback control strategy to calculate the second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value.

[0020] In some embodiments, the method further comprises:

[0021] In a case where the anti-pinch force is greater than the anti-pinch force threshold, the opening and closing device is controlled to retreat or stop.

[0022] In a second aspect, an embodiment of the present application provides a device for controlling an opening and closing device of a smart device, comprising:

[0023] An acquisition module is configured to acquire a current angle value of the opening and closing device of the smart device in an open state, current posture information, and a desired angle value of the opening and closing device.

[0024] A first determination module is configured to determine a first driving parameter corresponding to a driving device based on the current posture information and the current angle value, the driving device being configured to output a target torque to the opening and closing device under the action of the first driving parameter, the target torque being configured to offset a gravity component of the opening and closing device in the current posture.

[0025] A second determination module is configured to determine a second driving parameter corresponding to the opening and closing device based on the current angle value and the desired angle value, the driving device being configured to output a second target torque to the opening and closing device under the action of the second driving parameter, a difference between a force corresponding to the second target torque and a sum of a motion resistance and an anti-pinch force of the opening and closing device in an opening and closing process being less than an error threshold.

[0026] A first control module is configured to control the driving device to control the opening and closing device based on the first driving parameter and the second driving parameter.

[0027] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method of the first aspect when executing the computer program.

[0028] In a fourth aspect, an embodiment of the present application provides a smart device, comprising the electronic device of the third aspect, the smart device having the opening and closing device.

[0029] In some embodiments, the smart device comprises an electric vehicle, and the opening and closing device comprises at least one of a door, a tailgate, and a hood.

[0030] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium storing a computer program, the computer program being executable on a processor to implement the method of the first aspect.

[0031] In a sixth aspect, an embodiment of the present application provides a computer program product, the computer program product comprising a computer program, the computer program being executable on a processor to implement at least the method of any one of the first aspect.

[0032] The beneficial effects of the embodiments of the present application compared with the prior art are:

[0033] The method for controlling the opening and closing device of the intelligent device provided by the embodiments of the present application comprises the following steps: obtaining a current angle value of the opening and closing device of the intelligent device in an open state, current attitude information and a desired angle value of the opening and closing device; determining a first driving parameter corresponding to a driving device based on the current attitude information and the current angle value, the driving device being used for outputting a target torque to the opening and closing device under the action of the first driving parameter, the target torque being used for offsetting a gravity component force of the opening and closing device in the current attitude; determining a second driving parameter corresponding to the opening and closing device based on the current angle value and the desired angle value; and controlling the driving device to control the opening and closing device based on the first driving parameter and the second driving parameter, so that the driving parameter affected by the gravity, the driving parameter affected by the motion resistance and the anti-pinch force can be determined separately, and the anti-pinch force can be accurately determined in the control because the motion resistance is generally fixed. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0035] Figure 1 The flowchart of the method for controlling the opening and closing device of the intelligent device provided by the embodiments of the present application;

[0036] Figure 2 The closed-loop control schematic diagram of the method for controlling the opening and closing device of the intelligent device provided by the embodiments of the present application;

[0037] Figure 3 The enlarged schematic diagram of the structure at the door hinge provided by the embodiments of the present application;

[0038] Figure 4 The device structure schematic diagram of the method for controlling the opening and closing device of the intelligent device provided by the embodiments of the present application;

[0039] Figure 5 The structure schematic diagram of the electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0040] In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular architectures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, circuits, and

[0041] It will be understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0042] It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0043] As used in the description of the application and the appended claims, the term "if' can be interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if determined" or "if detected" can be interpreted to mean "upon determining" or "in response to determining" or "upon detecting" or "in response to detecting," depending on the context.

[0044] In addition, the terms "first," "second," "third," etc. as used in the description and the appended claims are used only to distinguish one element from another and do not necessarily indicate relative importance.

[0045] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" or "in some embodiments" or "in other embodiments" or "in still other embodiments," etc. in various places throughout this specification are not necessarily all referring to the same embodiment, unless otherwise specifically so stated. Furthermore, the term "comprising" is used throughout this specification to mean that the claimed subject matter can include one or more features, structures, or characteristics, but not necessarily every feature, structure, or characteristic listed in the specification.

[0046] Based on the technical problems of the related art, the embodiments of the present application provide a method for controlling an opening and closing device of a smart device, which can be applied to an electronic device. The electronic device can include a mobile phone, a tablet computer, a wearable device, an Augmented Reality (AR) / Virtual Reality (VR) device, a notebook computer, an Ultra-Mobile Personal Computer (UMPC), a netbook, a Personal Digital Assistant (PDA), a smart device, a controller / processor of a smart device, and the embodiments of the present application do not limit the specific type of the electronic device. The smart device can include a smart car, a smart home device, and the like.

[0047] In the embodiments of the present application, the opening and closing device refers to a component capable of opening or closing action relative to the body of the smart device, such as the doors of a smart car, tailgates, hood doors, cabinet doors in a smart home, and the like. The opening and closing device is connected to the body of the smart device through a hinge or the like to facilitate flexible opening and closing action. The driving device is capable of driving the opening and closing device to open or close. The hinge is a movable component connecting two objects, allowing the two objects to rotate relative to each other within a certain range, and providing stable rotational support for the opening and closing device. The driving device refers to a component capable of generating power and driving the opening and closing device to open or close.

[0048] Figure 1 The embodiments of the present application provide a flowchart of a method for controlling an opening and closing device of a smart device, as shown in Figure 1 The method includes:

[0049] In step S101, a current angle value of the opening and closing device of the smart device in an open state, current attitude information, and a desired angle value of the opening and closing device are obtained.

[0050] In the embodiments of the present application, the current angle value refers to the current angle position of the opening and closing device relative to the body of the smart device. The current attitude information refers to the spatial attitude of the opening and closing device relative to the earth coordinate system or the body coordinate system of the smart device, including the pitch angle, the roll angle, and the like. The desired angle value refers to the target angle position that the user or the smart device hopes to achieve.

[0051] In the embodiments of the present application, the current angle value of the opening and closing device in the open state can be obtained through an angle sensor, an encoder or an image processing algorithm, etc. The current attitude information of the opening and closing device can be obtained through an inertial measurement unit (IMU), a gyroscope, an accelerometer or other sensors. The expected angle value is usually input by a user or automatically generated by a smart device according to preset conditions. For a vehicle door, the expected angle value is usually a specific angle value. Taking a smart device as an electric vehicle and the opening and closing device as a vehicle door of the electric vehicle, the current angle value of the vehicle door relative to the electric vehicle in the open state can be obtained through an angle sensor, the current attitude information of the vehicle can be measured through an inertial measurement unit, and the expected angle value of the vehicle door can be obtained from the system of the electric vehicle.

[0052] In step S102, a first driving parameter corresponding to a driving device is determined based on the current attitude information and the current angle value, the driving device being used to output a first target torque to the opening and closing device under the action of the first driving parameter, and the first target torque being used to offset the gravity component of the opening and closing device in the current attitude.

[0053] In the embodiments of the present application, when the opening and closing device is connected to the body of the smart device through a hinge, the force component of the opening and closing device in the direction of the rotation axis of the hinge under the action of gravity will generate a torque on the hinge. The first target torque is used to offset the gravity component of the opening and closing device in the current attitude, and the first driving parameter can be calculated based on the first target torque corresponding to the gravity component. For example, the first target torque can be calculated through formula 1, wherein formula 1 is as follows:

[0054] ;

[0055] wherein, is a function of , wherein, is a pitch angle, is a roll angle, is the calculated first target torque.

[0056] In the embodiments of the present application, the first driving parameter refers to the parameter required by the driving device to offset the torque of the hinge due to the gravity component. The first driving parameter can be a driving current or a driving voltage.

[0057] In the embodiments of the present application, the required first driving parameter can be calculated according to the torque of the hinge due to the gravity component and the torque characteristics of the driving device. Generally, the torque and the driving parameter at both ends of the driving device are in a fixed relationship. Taking the driving parameter as a voltage for example, and taking the driving device as a motor for example, the target torque and the voltage at both ends of the motor are in a fixed relationship, and the driving voltage can be represented as U1= .

[0058] The formula 1 can be brought in, and then U1= .

[0059] In step S103, a second driving parameter corresponding to the opening and closing device is determined based on the current angle value and the expected angle value, wherein the driving device is used to output a second target torque to the opening and closing device under the action of the second driving parameter, and a difference between a force corresponding to the second target torque and a sum of a movement resistance and an anti-pinch force of the opening and closing device in the opening and closing process is less than an error threshold.

[0060] In the embodiment of the present application, the second driving parameter corresponding to the opening and closing device can be calculated by using a feedback control strategy based on the current angle value and the expected angle value.

[0061] In the embodiment of the present application, the angle error can be determined by the current angle value and the expected angle value, and the feedback control algorithm (such as proportional control, proportional-integral control, proportional-integral-derivative control, etc.) is selected according to the angle error to calculate the required adjustment amount. The output of the feedback control algorithm will be an adjustment signal, which is used to indicate how the driving device adjusts its output to reduce the angle error. On the basis of the feedback control algorithm, the required anti-pinch force is calculated in combination with the dynamics characteristics of the opening and closing device and the anti-pinch strategy. According to the anti-pinch force, the movement resistance value and the torque characteristics of the driving device, the required second driving parameter is calculated.

[0062] In the embodiment of the present application, the error threshold can be a small data, for example, it can be 0, and the difference between the force corresponding to the second target torque and the sum of the movement resistance and the anti-pinch force of the opening and closing device in the opening and closing process can be considered to be equal to the sum of the movement resistance and the anti-pinch force, which is less than the error threshold.

[0063] In the embodiment of the present application, the second driving parameter can be a voltage signal, which can be exemplarily represented as U2.

[0064] In step S104, the driving device is controlled based on the first driving parameter and the second driving parameter to control the opening and closing device.

[0065] In the embodiment of the present application, the driving device can be controlled according to the first driving parameter and the second driving parameter, so that the driving device actually acts to realize the accurate control of the opening and closing device.

[0066] Figure 2 A closed-loop control schematic diagram of a method for controlling an opening and closing device of an intelligent device provided in the embodiment of the present application is shown in FIG. 1. Figure 2As shown, when the driving device is controlled, proportional-integral-derivative control can be performed, the first driving parameter can be used as a feedforward part, and the second driving parameter can be used as a feedback part of the control. U1 and U2 can be added to obtain an actual voltage acting on the driving device. After the actual voltage is obtained, the actual voltage can be output to act on the driving device, so as to control the driving device to drive and control the opening and closing device.

[0067] In the embodiments of the present application, when the opening and closing device is controlled, the voltage of the feedback part corresponds to the voltage of the driving device for controlling the opening and closing device under the condition that the gravity component is zero. The voltage has a corresponding relationship with the movement resistance and the anti-pinch force of the opening and closing device during the opening and closing process, and the movement resistance generally does not change. Therefore, it can be determined that the voltage has a corresponding relationship with the anti-pinch force, so that the anti-pinch force of the opening and closing device in different postures can be determined more accurately, and accurate control can be achieved. The situation that the anti-pinch force control is not accurate when the object to be pinched is soft and the speed change rate is small is avoided.

[0068] The method for controlling the opening and closing device of the intelligent device provided in the embodiments of the present application comprises the following steps: obtaining a current angle value of the opening and closing device of the intelligent device in an open state, current posture information, and a desired angle value of the opening and closing device; determining a first driving parameter corresponding to a driving device based on the current posture information and the current angle value, the driving device being used to output a target torque to the opening and closing device under the action of the first driving parameter, the target torque being used to offset a gravity component of the opening and closing device in the current posture; determining a second driving parameter corresponding to the opening and closing device based on the current angle value and the desired angle value; and controlling the driving device to control the opening and closing device based on the first driving parameter and the second driving parameter. In the process of controlling the opening and closing device, the driving parameter of the gravity and the driving parameter of the anti-pinch force can be determined separately, so that the anti-pinch force can be accurately determined in the control.

[0069] In some embodiments, the opening and closing device is connected to the body of the intelligent device through a hinge, and the driving device comprises an electric limit stopper, which is arranged on the opening and closing device. The electric limit stopper comprises an extension rod and a sliding block. The sliding block is arranged inside the electric limit stopper, one end of the extension rod is fixed on the sliding block, and the other end of the extension rod is connected to an actuator hinge on the intelligent device. The distance between the actuator hinge and the hinge is a second distance.

[0070] In the embodiments of the present application, the electric limit stopper is a device that integrates electric driving and limiting functions, which can accurately control the position and angle of the opening and closing device and automatically stop or reverse when reaching the preset position. The electric limit stopper usually includes an extension rod, a slider, a motor, a sensor, etc. The motor provides power, the slider moves inside the electric limit stopper, one end of the extension rod is fixed on the slider, and the other end is connected with the actuator hinge, thereby realizing the control of the opening and closing device. The slider is a moving part inside the electric limit stopper, which is used to slide on the track inside the electric limit stopper, thereby changing the length of the extension rod. The slider is usually arranged inside the electric limit stopper and slides on the track driven by the motor. The position information of the slider can be obtained by a sensor (such as a Hall sensor) for calculating the angle of the opening and closing device. The actuator hinge is usually a fixed connection point, one end of which is connected with the extension rod, and the other end is connected with the opening and closing device. Through the actuator hinge, the electric limit stopper can accurately control the position and angle of the opening and closing device.

[0071] Taking the smart device as an electric vehicle and the opening and closing device as a vehicle door as an example, Figure 3 A structure enlarged schematic view at the hinge of the vehicle door is provided in the embodiments of the present application, as shown in Figure 3 The vehicle door and the vehicle body have a rotatable hinge, the extension rod of the electric limit stopper is connected with the actuator hinge at the vehicle body, and the extension rod of the electric limit stopper is connected with the slider inside the electric limit stopper through a hinge. When the electric function works, the motor inside the electric limit stopper rotates to drive the internal moving block to move forward and backward, thereby changing the length of the third distance a, while the first distance b and the second distance c are fixed, thereby driving the opening and closing of the vehicle door.

[0072] In the embodiments of the present application, step S101, the current angle value of the opening and closing device relative to the smart device is obtained, including:

[0073] Step S1011, in the case that the opening and closing device is at the current angle value, the first distance between the electric limit stopper and the actuator hinge and the second distance between the actuator hinge and the hinge are obtained.

[0074] In the embodiments of the present application, the first distance is a fixed geometric size, which can be obtained by measurement or design parameters. The second distance is also a fixed geometric size, which can be obtained by measurement or design parameters.

[0075] Step S1012, determining the third distance between the slider and the hinge based on the position information of the slider.

[0076] In the embodiments of the present application, a Hall electric signal of a Hall sensor can be acquired, the Hall sensor is used to detect magnetic field information of an environment where the slider is located, and generate a Hall electric signal based on the magnetic field information; the position information of the slider is determined based on the Hall electric signal; and the third distance between the slider and the hinge is determined based on the position information.

[0077] In the embodiments of the present application, the Hall sensor is a magnetic sensor based on the Hall effect, which can detect the magnetic field information in the environment. When the magnetic field acts on the Hall sensor, a potential difference (i.e. Hall voltage) will be generated on both sides of the Hall sensor, and this potential difference is related to the strength and direction of the magnetic field. The Hall electric signal refers to the electric signal generated by the Hall sensor after detecting the magnetic field, which is usually represented as a voltage signal. This signal is proportional to the strength of the magnetic field, so it can be used to represent the change of the magnetic field. In the electric limit stop, the Hall sensor is usually installed near or on the slider to detect the change of the magnetic field in the environment when the slider moves. This magnetic field can be generated by a permanent magnet fixed inside the electric limit stop, or by other means. When the slider moves, it changes the relative position with the permanent magnet or other magnetic field source, thereby changing the strength of the magnetic field in the environment. The Hall sensor detects the change of the magnetic field strength and generates a corresponding Hall electric signal. There is a certain correspondence between the Hall electric signal and the position of the slider. This correspondence can be determined through a calibration process, that is, the corresponding Hall electric signal value is recorded at different positions of the slider. In actual application, when the Hall sensor detects the Hall electric signal generated by the movement of the slider, the position information of the slider can be calculated by looking up the pre-calibrated correspondence table or using a mathematical model. In the embodiments of the present application, since the position of the hinge is determined and the position of the slider is determined, the third distance between the slider and the hinge can be obtained.

[0078] In step S1013, the angle value of the opening and closing device relative to the smart device is determined based on the first distance, the second distance and the third distance.

[0079] In the embodiments of the present application, the current angle value of the opening and closing device relative to the smart device can be determined based on the first distance, the second distance and the third distance through a triangular relationship.

[0080] For example, the current angle value is θ, and the calculation formula of the current angle value can be represented as:

[0081] ;

[0082] wherein, is a function, the first distance b, the second distance c, and the third distance .

[0083] will The calculation of U1 can be represented as: .

[0084] In the embodiments of the present application, the feedforward part in the control can be calculated by the five known parameters a, b, c, X and Y. This part of the feedforward can exactly offset the first target torque of the gravity component of the vehicle door.

[0085] In some embodiments, after step S104, the method further comprises:

[0086] Step S105, if the anti-pinch force is greater than the anti-pinch force threshold, controlling the opening and closing device to retreat or stop.

[0087] In the embodiments of the present application, the calculation of the size of the anti-pinch force can be obtained according to the second driving parameter. According to the above example, the anti-pinch force can be calculated by the following formula:

[0088] ;

[0089] The anti-pinch force is k, which is an empirical coefficient.

[0090] In some embodiments, the anti-pinch force can be obtained by subtracting the motion resistance from the force corresponding to the second target torque.

[0091] In the embodiments of the present application, the anti-pinch force threshold is a preset safety limit value, which is used to determine whether the pinch force generated by the opening and closing device during the closing process exceeds the safety range. Taking the door of an electric vehicle as an example, the anti-pinch force threshold can be set to about 100N. If the anti-pinch force exceeds the anti-pinch force threshold, the opening and closing device will retreat or stop.

[0092] In the embodiments of the present application, in order to eliminate the risk of injury, the opening and closing device will perform a retreat operation, that is, move in the opposite direction for a distance, so as to ensure that the obstacle is completely released. If the opening and closing device has approached the completely closed state, it can choose to stop operation, that is, maintain the current position and stop moving.

[0093] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0094] According to the foregoing embodiments, the embodiments of the present application provide a device for controlling an opening and closing device of a smart device, each module included in the device and each unit included in each module can be implemented by a processor in an electronic device; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor unit (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA).

[0095] The embodiments of the present application provide a device for controlling an opening and closing device of a smart device, Figure 4 The device for controlling an opening and closing device of a smart device provided in the embodiments of the present application has a structural schematic diagram as shown in Figure 4 The device 300 for controlling an opening and closing device of a smart device includes:

[0096] The acquisition module 301 is configured to acquire a current angle value of the opening and closing device of the smart device in an open state, current attitude information and a desired angle value of the opening and closing device.

[0097] The first determination module 302 is configured to determine a first driving parameter corresponding to a driving device based on the current attitude information and the current angle value, the driving device being used to output a first target torque to the opening and closing device under the action of the first driving parameter, the first target torque being used to offset a gravity component of the opening and closing device in the current attitude.

[0098] The second determination module 303 is configured to determine a second driving parameter corresponding to the opening and closing device based on the current angle value and the desired angle value, wherein the driving device is used to output a second target torque to the opening and closing device under the action of the second driving parameter, and a difference between a force corresponding to the second target torque and a sum of a movement resistance and an anti-pinch force of the opening and closing device in the opening and closing process is less than an error threshold.

[0099] The first control module 304 is configured to control the driving device to control the opening and closing device based on the first driving parameter and the second driving parameter.

[0100] In some embodiments, the opening and closing device is connected to the body of the smart device through a hinge, and the driving device comprises: an electric limit stopper arranged on the opening and closing device, the electric limit stopper comprising: an extension rod and a sliding block, the sliding block being arranged inside the electric limit stopper, one end of the extension rod being fixed on the sliding block, and the other end of the extension rod being connected to an actuator hinge on the smart device, and an acquisition module comprising:

[0101] A first acquisition unit is configured to acquire a first distance between the electric limit stopper and the actuator hinge and a second distance between the actuator hinge and the hinge when the opening and closing device is at the current angle value.

[0102] A first determination unit is configured to determine a third distance between the sliding block and the hinge based on the position information of the sliding block.

[0103] A second determination unit is configured to determine the current angle value at which the opening and closing device is opened relative to the smart device based on the first distance, the second distance, and the third distance.

[0104] In some embodiments, the first determination unit comprises:

[0105] An acquisition subunit is configured to acquire a Hall electric signal of a Hall sensor, the Hall sensor being configured to detect magnetic field information of an environment in which the sliding block is located and generate a Hall electric signal based on the magnetic field information.

[0106] A first determination subunit is configured to determine the position information of the sliding block based on the Hall electric signal.

[0107] A second determination subunit is configured to determine the third distance between the sliding block and the hinge based on the position information.

[0108] In some embodiments, the current posture information comprises a pitch angle and a roll angle.

[0109] In some embodiments, the second determination module comprises:

[0110] A calculation unit is configured to calculate a second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value using a feedback control strategy.

[0111] In some embodiments, the device for controlling the opening and closing device of the smart device further comprises:

[0112] A second control module is configured to control the opening and closing device to back off or stop when the anti-pinch force is greater than an anti-pinch force threshold.

[0113] In addition, the device for controlling the opening and closing of the aforementioned smart device can be a software unit, hardware unit, or a combination of software and hardware built into existing electronic devices, or it can be integrated into electronic devices as an independent accessory, or it can exist as an independent terminal device.

[0114] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0115] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0116] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 5 As shown, the electronic device 3 in this embodiment may include: at least one processor 30 ( Figure 5 Only one processor 30, memory 31, and computer program 32 stored in memory 31 and executable on at least one processor 30 are shown. When the processor 30 executes the computer program 32, it implements the steps in any of the above method embodiments, or the processor 30 executes the computer program 32 to implement the functions of each module / unit in the above device embodiments.

[0117] For example, computer program 32 may be divided into one or more modules / units, one or more of which are stored in memory 31 and executed by processor 30 to complete this application. One or more modules / units may be a series of computer program 32 instruction segments capable of performing a specific function, which describe the execution process of computer program 32 in electronic device 3.

[0118] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program 32, and the computer program 32 is executed by the processor 30 to realize the steps in the above-mentioned various method embodiments.

[0119] The embodiment of the present application provides a computer program product, which, when running on an electronic device, causes the electronic device to execute the steps in the above-mentioned various method embodiments.

[0120] The integrated unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. According to such understanding, the embodiment of the present application can realize all or part of the above-mentioned method processes through the computer program 32 to instruct the related hardware to complete, and the computer program 32 can be stored in a computer readable storage medium. The computer program 32, when executed by the processor 30, can realize the steps in the above-mentioned various method embodiments. The computer program 32 includes computer program code, which can be in the form of source code, object code, executable file or some intermediate form. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the terminal, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk and the like.

[0121] In the above-mentioned embodiments, the description of each embodiment has its own emphasis, and the part not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0122] Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed in the present text can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software mode depends on the specific application and design constraints of the technical solution. The professional technicians can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0123] In the embodiments of the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other manners. For example, the described apparatus / network device embodiments are merely schematic. Taking the division of the modules or units as an example, the division can be changed in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0124] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0125] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

[0126] The related user personal information involved in the embodiments of the present application is strictly in accordance with the requirements of laws and regulations, follows the principles of legality, legitimacy and necessity, is based on the reasonable purpose of business scene, and processes the personal information of the user which is actively provided by the user in the process of using the product / service or generated due to the use of the product / service, and authorized by the user.

[0127] The user personal information processed by the applicant will be different due to the specific product / service scene, and should be subject to the specific scene of the user using the product / service, which may involve the user's account information, device information, driving information, vehicle information or other related information. The applicant will treat the user's personal information and its processing with high diligence and obligation.

[0128] The applicant attaches great importance to the security of user personal information, has taken security protection measures in accordance with industry standards, which are reasonable and feasible to protect the user's information, to prevent unauthorized access, public disclosure, use, modification, damage or loss of personal information.

Claims

1. A method for controlling the opening and closing of a smart device, characterized in that, The method includes: The system acquires the current angle value, current attitude information, and desired angle value of the opening and closing device of the smart device when it is in the open state. The opening and closing device is connected to the body of the smart device via a hinge. The current attitude information includes pitch angle and roll angle. Based on the current attitude information and the current angle value, a first driving parameter corresponding to the driving device is determined. Under the action of the first driving parameter, the driving device outputs a first target torque to the opening and closing device. The first target torque is used to counteract the gravitational component of the opening and closing device in the current attitude. The second driving parameter corresponding to the opening and closing device is determined based on the current angle value and the desired angle value. Under the action of the second driving parameter, the driving device is used to output a second target torque to the opening and closing device. The difference between the force corresponding to the second target torque and the sum of the motion resistance and anti-pinch force of the opening and closing device during the opening and closing process is less than the error threshold. The driving device controls the opening and closing device based on the first driving parameter and the second driving parameter.

2. The method according to claim 1, characterized in that, The driving device includes: an electric limiter, which is disposed on the opening and closing device. The electric limiter includes: an extension rod and a slider, the slider being disposed inside the electric limiter. One end of the extension rod is fixed to the slider, and the other end of the extension rod is connected to an actuator hinge on the smart device. The device acquires the current angle value of the opening and closing device relative to the smart device, including: When the opening and closing device is located at the current angle value, obtain the first distance between the electric limiter and the actuator hinge and the second distance between the actuator hinge and the hinge; Determine the third distance between the slider and the hinge based on the slider's position information; The current angle value of the opening and closing device relative to the smart device is determined based on the first distance, the second distance, and the third distance.

3. The method according to claim 2, characterized in that, Determining the third distance between the slider and the hinge based on the slider's position information includes: Acquire the Hall electrical signal from the Hall sensor, which is used to detect the magnetic field information of the environment where the slider is located, and generate the Hall electrical signal based on the magnetic field information; The position information of the slider is determined based on the Hall electrical signal; A third distance between the slider and the hinge is determined based on the position information.

4. The method according to any one of claims 1 to 3, characterized in that, Determining the second driving parameter corresponding to the opening and closing device based on the current angle value and the desired angle value includes: Based on the current angle value and the desired angle value, a feedback control strategy is used to calculate the second driving parameters corresponding to the opening and closing device.

5. The method according to any one of claims 1 to 3, characterized in that, The method further includes: If the anti-pinch force exceeds the anti-pinch force threshold, the opening and closing device is controlled to retract or stop.

6. A device for controlling the opening and closing of a smart device, characterized in that, include: The acquisition module is used to acquire the current angle value, current attitude information and desired angle value of the opening and closing device of the smart device when the opening and closing device is in the open state. The opening and closing device is connected to the body of the smart device through a hinge. The current attitude information includes pitch angle and roll angle. The first determining module is used to determine the first driving parameter corresponding to the driving device based on the current attitude information and the current angle value. Under the action of the first driving parameter, the driving device is used to output a first target torque to the opening and closing device. The first target torque is used to counteract the gravitational component of the opening and closing device in the current attitude. The second determining module is used to determine the second driving parameter corresponding to the opening and closing device based on the current angle value and the desired angle value, wherein the driving device is used to output a second target torque to the opening and closing device under the action of the second driving parameter, and the difference between the force corresponding to the second target torque and the sum of the motion resistance and anti-pinch force of the opening and closing device during the opening and closing process is less than the error threshold. The first control module is used to control the opening and closing device by the drive device based on the first drive parameters and the second drive parameters.

7. An electronic device, characterized in that, include: The method includes a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the method as described in any one of claims 1 to 5.

8. A smart device, characterized in that, include: The electronic device of claim 7, wherein the smart device has an opening and closing device.

9. The intelligent device according to claim 8, characterized in that, The smart device includes an electric vehicle, and the opening and closing device includes at least one of a door, a tailgate, and an engine hood.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 5.

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